EP2251120B1 - Machining methods - Google Patents

Machining methods Download PDF

Info

Publication number
EP2251120B1
EP2251120B1 EP10162115.9A EP10162115A EP2251120B1 EP 2251120 B1 EP2251120 B1 EP 2251120B1 EP 10162115 A EP10162115 A EP 10162115A EP 2251120 B1 EP2251120 B1 EP 2251120B1
Authority
EP
European Patent Office
Prior art keywords
workpiece
axis
tool
machining
peripheral
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP10162115.9A
Other languages
German (de)
French (fr)
Other versions
EP2251120A1 (en
Inventor
Ryuichi Fujiwara
Satoshi Miyamoto
Shizuo Nishikawa
Hisayoshi Morita
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
DMG Mori Co Ltd
Original Assignee
DMG Mori Seiki Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to JP2009118458A priority Critical patent/JP5372598B2/en
Application filed by DMG Mori Seiki Co Ltd filed Critical DMG Mori Seiki Co Ltd
Publication of EP2251120A1 publication Critical patent/EP2251120A1/en
Application granted granted Critical
Publication of EP2251120B1 publication Critical patent/EP2251120B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23BTURNING; BORING
    • B23B5/00Turning-machines or devices specially adapted for particular work; Accessories specially adapted therefor
    • B23B5/08Turning-machines or devices specially adapted for particular work; Accessories specially adapted therefor for turning axles, bars, rods, tubes, rolls, i.e. shaft-turning lathes, roll lathes; Centreless turning
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/72Auxiliary arrangements; Interconnections between auxiliary tables and movable machine elements
    • B23Q1/76Steadies; Rests
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q17/00Arrangements for observing, indicating or measuring on machine tools
    • B23Q17/20Arrangements for observing, indicating or measuring on machine tools for indicating or measuring workpiece characteristics, e.g. contour, dimension, hardness
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q17/00Arrangements for observing, indicating or measuring on machine tools
    • B23Q17/22Arrangements for observing, indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work
    • B23Q17/2233Arrangements for observing, indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work for adjusting the tool relative to the workpiece
    • B23Q17/2266Arrangements for observing, indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work for adjusting the tool relative to the workpiece of a tool relative to a workpiece-axis
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q17/00Arrangements for observing, indicating or measuring on machine tools
    • B23Q17/24Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/18Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/404Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23BTURNING; BORING
    • B23B2260/00Details of constructional elements
    • B23B2260/092Lasers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23BTURNING; BORING
    • B23B2270/00Details of turning, boring or drilling machines, processes or tools not otherwise provided for
    • B23B2270/48Measuring or detecting
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/37Measurements
    • G05B2219/37374Deflection
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/49Nc machine tool, till multiple
    • G05B2219/49186Deflection, bending of tool

Description

    Technical Field
  • 0001 The present invention relates to a machining method in which both end portions of an elongated workpiece are supported horizontally by end portion supporting means and the supported workpiece is rotated about its axis and is machined by a tool held by tool holding means.
  • Background Art
  • 0002 DE 199 58616 A discloses a machining method having the features of the preambles of claim 1 and claim 2.
  • In a machining device such as a lathe, when machining a workpiece, for example as described in Japanese Unexamined Patent Application Publication No. 2002-59301 , the workpiece is machined in a state where both end portions thereof are supported.
  • 0003 However, in the above supporting way, in a case where a workpiece W is an elongated workpiece, the workpiece W is deflected by its own weight as shown in Fig. 8, and thereby it is not possible to highly accurately machine the workpiece W. It is noted that in Fig. 8, reference numerals 100 refer to chucks for supporting both end portions of the workpiece W.
  • 0004 Therefore, for example, as described in Japanese Unexamined Patent Application Publication No. 2004-261935 , the middle-portion of the workpiece, as well as both end portions thereof, is supported by a center rest or the like and the workpiece is machined while preventing the middle portion from being deflected.
  • Summary of Invention Technical Problem
  • 0005 However, even in a case where the middle portion of the workpiece W is supported, as shown in Fig. 9, it is not possible to prevent the deflection of the workpiece W by its own weight from occurring between the chucks 100 supporting end portions of the workpiece W and center rests 101 or between the center rests 101. Therefore, it is not possible to highly accurately machine the workpiece W because of the deflection occurring at these portions.
  • 0006 The present invention has been achieved in view of the above-described circumstances, and an object of the present invention is to provide a machining method and machining system capable of highly accurately machining a workpiece even in a case where the workpiece is deflected.
  • Solution to Problem
  • 0007 The present invention, for achieving the above-described object, relates to a machining method according to claim 1 and to a machining method according to claim 2.
  • 0010 The reason for calculating the deflection shape of the workpiece being rotated is that, as a result of repeated research by the inventors of the present invention and others, it has turned out that there is a difference in the deflection state of the workpiece between when the workpiece is being rotated and when the workpiece is not being rotated. Therefore, in a case where the deflection of a workpiece is measured when the workpiece is not being rotated, the deflection measured at this time is different from the deflection measured when the workpiece is being rotated for machining.
  • Advantageous Effects of Invention
  • 0019 As described above, according to the machining methods of the present invention, since the deflection of a workpiece occurring when the workpiece is machined is calculated and the tool is moved along the calculated deflection, it is possible to accurately machine the workpiece.
  • Brief Description of Drawings
  • 0020
    • Fig. 1 is a perspective view showing a schematic configuration of a machining system carrying out a machining method according to one embodiment of the present invention, which is partially represented by block diagram; Fig. 2 is a sectional view showing a schematic configuration of a measuring; head
    • Fig. 3 is an illustration for illustrating measurement of the distance between the measuring head and the outer peripheral surface of a workpiece in the embodiment;
    • Fig. 4 is an illustration for illustrating the measurement of the distance between the measuring head and the outer peripheral surface of the workpiece in the embodiment;
    • Fig. 5 is an illustration for illustrating movement of a tool at the time of machining in the embodiment;
    • Fig. 6 is an illustration for illustrating measurement of the distance between the measuring head and the outer peripheral surface of the workpiece in an alternative embodiment of the present invention;
    • Fig. 7 is an illustration for illustrating movement of the tool at the time of machining in an alternative embodiment of the present invention;
    • Fig. 8 is an illustration for illustrating a conventional problem; and
    • Fig. 9 is an illustration for illustrating a conventional problem.
    Description of Embodiments
  • 0021 Hereinafter, a specific embodiment of the present invention will be explained with reference to the accompanying drawings. Fig. 1 is a perspective view showing a schematic configuration of a machining system carrying out a machining method according to one embodiment of the present invention, which is partially represented by block diagram, and Fig. 2 is a sectional view showing a schematic configuration of a measuring head.
  • 0022 As shown in Fig. 1, a machining system 1 is configured with a lathe 10 as a machining device and a laser-type measuring device 30 for measuring the deflection of a workpiece W to be machined by the lathe 10, and the lathe 10 is configured to move a tool along the deflection of the workpiece W measured by the laser-type measuring device 30.
  • 0023 The lathe 10 is configured with a bed 11, a first headstock 12 fixedly provided on the bed 11, a first spindle (not shown) supported by the first headstock 12 so as to be rotatable about its horizontal axis, a first chuck 13 mounted to the tip of the first spindle for holding one end portion of the workpiece W horizontally, a second headstock 14 disposed on the bed 11 so as to face the first headstock 12 and so as to be movable in a Z-axis direction that is the direction of the axis of the first spindle (not shown), a second spindle (not shown) supported by the second headstock 14 so as to be co-axial with the axis of the first spindle and so as to be rotatable about its axis, a second chuck 15 mounted to the tip of the second spindle for holding the other end portion of the workpiece W horizontally, a column 16 fixedly provided on the bed 11, a first saddle 17 supported at the upper portion thereof by the column 16 and at the lower portion thereof by the bed 11 and provided so as to be movable in the Z-axis direction, a second saddle 18 disposed on the first saddle 17 so as to be movable in an X-axis direction that is the vertical direction, a quill 19 disposed on the second saddle 18 so as to be movable in a Y-axis direction that is orthogonal to both of the Z-axis and X-axis, a tool rest 20 supported on the front end face of the quill 19, a plurality of center rests 21 which are disposed on the bed 11 between the first headstock 12 and the second headstock 14 so as to be movable in the Z-axis direction and the X-axis direction and support the middle portion of the workpiece W, and other components.
  • 0024 In addition, although not particularly shown, the lathe 10 is provided with a rotation drive mechanism for rotating the first spindle about its axis, a first Z-axis feed mechanism for moving the second headstock 14 in the Z-axis direction, a second Z-axis feed mechanism for moving the first saddle 17 in the Z-axis direction, a first X-axis feed mechanism for moving the second saddle 18 in the X-axis direction, a Y-axis feed mechanism for moving the quill 19 in the Y-axis direction, and a third Z-axis feed mechanism and second X-axis feed mechanism provided corresponding to each center rest 21 for moving the center rest 21 in the Z-axis direction and in the X-axis direction, respectively, as well as a control device 25 for controlling their operations. Each of the feed mechanisms is configured with a drive motor, a ball screw, a nut and other components.
  • 0025 The tool rest 20 has a tool spindle 20a supported so as to be rotatable about its axis and a drive motor (not shown) for rotating the tool spindle 20a about its axis, and a tool (not shown) is held by the tool spindle 20a.
  • 0026 Each of the center rests 21 is configured with a sliding carriage 22 disposed on the bed 11 so as to be movable in the Z-axis direction and a center rest body 23 which is disposed on the sliding carriage 22 so as to be movable in the X-axis direction and which supports the workpiece W. The sliding carriage 22 is driven by the third Z-axis, feed mechanism and the center rest body 23 is driven by the second X-axis feed mechanism. Each of the center rests 21 supports the middle portion of the workpiece W so that the height positions of the both end portions of the workpiece W and the height position of the portion thereof supported by the center rest body 23 become the same.
  • 0027 The control device 25 moves the tool rest 20 by controlling the feed mechanisms, and thereby the tool held by the tool rest 20 is moved in the direction of the axis of the workpiece W supported by the chucks 13, 15 and the center rests 21 and the outer peripheral surface of the workpiece W is machined. At this time, the tool is moved along the deflection shape calculated by a later-described deflection shape calculating section 54 on the basis of the offset amount calculated by a later-described offset amount calculating section 55. For example, a tool moving path set in advance is offset according to the offset amount and the offset tool moving path is set as a path along the deflection shape, or moving positions of the tool set in advance are offset according to the offset amount and the offset moving positions are set as moving positions along the deflection shape.
  • 0028 The laser-type measuring device 30 is configured with a measuring head 31 for measuring the distance between the measuring head 31 and the outer peripheral surface of the workpiece W being rotated at the same rotational speed as that for when the workpiece W is machined and a data processing device 50 forcalculating the deflection shape of the workpiece W on the basis of data (distance data) on the distance measured by the measuring head 31 etc.
  • 0029 The reason for calculating the deflection shape of the workpiece W being rotated is that, as a result of repeated research by the inventors of the present invention and others, it has turned out that there is a difference in the deflection state of the workpiece W between when the workpiece W is being rotated and when the workpiece W is not being rotated. Therefore, in a case where the deflection of the workpiece W is measured when the workpiece W is not being rotated, the deflection measured at this time is different from the deflection of the workpiece W measured when the workpiece W is being rotated for machining. For this reason, in the present embodiment, the deflection shape of the workpiece W being rotated is calculated.
  • 0030 The measuring head 31 includes a laser oscillator 32 for emitting a laser beam in the Y-axis direction toward the outer peripheral surface of the workpiece W, a CCD camera 33 for receiving the laser beam reflected by the outer peripheral surface of the workpiece W and generating two-dimensional image data, a prism 34 and reflecting mirror 35 for directing the laser beam from the laser oscillator 32 to the outer peripheral surface of the workpiece W, two convex lenses 36, 37 for forming an image of the laser beam reflected by the outer peripheral surface of the workpiece W on an image plane 33a of the CCD camera 33 (specifically, concentrating the laser beam as an annular image), a diaphragm 38 arranged between the CCD camera 33 and the convex lens 37, a distance calculating section 39 for calculating the distance in the Y-axis direction between the measuring head 31 and the outer peripheral surface of the workpiece W (the distance between the image plane 33a of the CCD camera 33 and an irradiation point P of the laser beam) on the basis of the two-dimensional image data generated by the CCD camera 33, a transmitting device (not shown) for transmitting the distance data calculated by the distance calculating section 39 to the data processing device 50 by a wireless communication, a casing 40 for holding the laser oscillator 32, the CCD camera 33, the prism 34, the reflecting mirror 35, the convex lenses 36, 37, the diaphragm 38, the distance calculating section 39, the transmitting device etc. therein, and a mounting member 41 fixedly provided on the upper face of the casing 40 and being attachable to and detachable from the tool spindle 20a.
  • 0031 The distance calculating section 39 extracts the annular image of the reflected laser beam on the basis of the two-dimensional image data generated by the CCD camera 33, recognizes the diameter of the annular image, and calculates the distance between the image plane 33a and the irradiation point P from the recognized diameter.
  • 0032 The measuring head 31 is, in a state of being attached to the tool spindle 20a, moved in the X-axis direction by the movement of the tool rest 20 in the X-axis direction as shown in Fig. 3, for example. And the measuring head 31 measures said distance at a plurality of positions in its moving direction. Such measurement is performed at each of a plurality of measurement positions which are set in the direction of the axis of the workpiece W as shown in Fig. 4.
  • 0033 The data processing section 50 includes a distance data obtaining section 51 for obtaining the distance data by receiving the distance data transmitted from the measuring head 31 by a wireless communication, a distance data storage section 52 for storing the distance data obtained by the distance data obtaining section 51, a position data storage section 53 for storing moving position data on a moving position in the X-axis, Y-axis and Z-axis directions of the tool rest 20 which is obtained from the control device 25, a deflection shape calculating section 54 for-calculating the deflection shape of the workpiece W on the basis of the data stored in the distance data storage section 52 and in the position data storage section 53, and an offset amount calculating section 55 for calculating the offset amount on the basis of the deflection shape calculated by the deflection shape calculating section 54.
  • 0034 In the position data storage section 53, moving position data on the moving position of the tool rest 20 when the distance between the outer peripheral surface of the workpiece W and the CCD camera 33 is measured (for example, when a laser beam is emitted from the laser oscillator 32, when a shutter of the CCD camera 33 is released etc.) is stored.
  • 0035 The deflection shape calculating section 54 first calculates the position in the X-axis, Y-axis and Z-axis directions of each irradiation point P on the basis of a group of data which is the data stored in the distance data storage section 52 and in the position data storage section 53 and which is obtained through the movement of the measuring head 31 in the X-axis direction, and then calculates the center position of the workpiece W on the basis of the calculated positions of the irradiation points P. The calculation of the center position of the workpiece W is performed with respect to each measurement position. In calculating the center position of the workpiece W, it may be calculated on the basis of only the positions of the irradiation points P or on the basis of the positions of the irradiation points P and the diameter of the workpiece W which is known in advance.
  • 0036 Here, an example of a manner of calculating the center position of the workpiece W from the calculated positions of a plurality of irradiation points P (n irradiation points P) will be briefly explained. First of all, the equation for a sphere of radius centered at α, β γ is given as Equation 1, and then α, β, γ, r are defined as Equation 2. At this time, Equation 1 can be represented as Equation 3.
  • 0037 X α 2 + Y β 2 + Z γ 2 = r 2
    Figure imgb0001
  • 0038 α = a / 2 , β = b / 2 , γ = c / 2 , r = a 2 + b 2 + c 2 4 d
    Figure imgb0002
  • 0039 X 2 + Y 2 + Z 2 + aX + bY + cZ + d = 0
    Figure imgb0003
  • 0040 When the equation in Equation 3 is partially differentiated with respect to each of a, b, c, d, Equation 4 can be obtained and Equation 5 can be obtained from Equation 4. Values of a, b, c, d are calculated from Equation 5, and when the values are substituted for Equation 2, the center position α, β, γ and the radius r are obtained. The center position of the workpiece W can be calculated in this way.
  • 0041 Σ X 2 + Y 2 + Z 2 + aX + bY + cZ + d × X = 0 Σ X 2 + Y 2 + Z 2 + aX + bY + cZ + d × Y = 0 Σ X 2 + Y 2 + Z 2 + aX + bY + cZ + d × Z = 0 Σ X 2 + Y 2 + Z 2 + aX + bY + cZ + d × 1 = 0
    Figure imgb0004
  • 0042 Σ X 2 ΣXY ΣZX ΣX ΣXY Σ Y 2 ΣZY ΣY ΣZX ΣYZ Σ Z 2 ΣZ ΣX ΣY ΣZ n a b c d = Σ X 2 + Y 2 + Z 2 X Σ X 2 + Y 2 + Z 2 Y Σ X 2 + Y 2 + Z 2 Z Σ X 2 + Y 2 + Z 2
    Figure imgb0005
  • 0043 On the basis of the calculated center positions of the workpiece W at the measurement positions, the deflection shape of the workpiece W is Calculated. This deflection shape can be obtained by, for example, calculating the deflection curve.
  • 0044 The offset amount calculating section 55 calculates the offset amount for moving a tool T held by the tool rest 20 along the deflection shape calculated by the deflection shape calculating section 54 as shown in Fig. 5. For example, the offset amount for changing a preset tool moving path to be a path along the deflection shape is calculated, or the offset amount of preset moving positions of the tool T for moving the tool T along the deflection shape is calculated. The offset amount may be calculated before moving the tool T, or alternatively the tool T may be moved while the offset amount is being calculated. Further, the offset amount may be calculated according to a predetermined calculation equation or by referring to a data table.
  • 0045 According to the machining system 1 configured as described above, a workpiece W is machined in a manner described below. That is, first both end portions of the workpiece W are gripped by the chucks 13, 15, respectively and the middle portion of the workpiece W is supported by the center rests 21, and the measuring head 31 is attached to the tool spindle 20a of the tool rest 20.
  • 0046 Subsequently, the workpiece W is rotated about its axis at the same rotational speed as that for when the workpiece W is machined. Thereafter, the measuring head 31 is moved to the measurement positions in turn, and at each measurement position the measuring head 31 is moved in the X-axis direction and the laser beam is scanned in the same direction. At a plurality of positions in the X-axis direction, the distance between the outer peripheral surface of the workpiece W and the measuring head 31 is measured.
  • 0047 On the basis of the thus measured distances and the moving positions of the tool rest 20 when the distances were measured, the deflection shape-calculating section 54 calculates the position in the X-axis, Y-axis and Z-axis directions of each irradiation point P of the laser beam, calculates the center position of the workpiece W therefrom, and then calculates the deflection shape of the workpiece W.
  • 0048 Thereafter, the measuring head 31 is detached from the tool spindle 20a of the tool rest 20, and then a predetermined tool is attached thereto and the workpiece W being rotated is machined by the tool. At this time, the tool is moved along the deflection shape calculated by the deflection shape calculating section 54 according to the offset amount which is calculated by the offset amount calculating section 55 on the basis of this deflection shape.
  • 0049 Thus, according to the machining system 1, since the deflection shape of the workpiece W is calculated in a state where the workpiece W is being rotated at a rotational speed for when the workpiece W is machined, it is possible to accurately calculate the deflection occurring when the workpiece W is machined. Further, since the tool is moved along the thus calculated deflection shape, it is possible to highly accurately machine the workpiece W even in a case the workpiece W is deflected and even in a case where there is a difference in the deflection state of the workpiece W between when the workpiece W is being rotated and when the workpiece W is not being rotated,
  • 0050 Further, since a non-contact type measuring head 31 is employed, it is possible to perform the measurement with the workpiece W being rotated, which cannot be performed by a contact-type measuring device using a touch probe or the like.
  • 0051 Thus, one embodiment of the present invention has been explained. However, a specific mode in which the present invention can be realized is not limited thereto.
  • 0052 For example, although, in the above embodiment, the measuring head 31 is moved to the measurement positions in turn and at each measurement point the laser beam is scanned in the X-axis direction, it is not limited thereto. As shown in Fig. 6, it is may be configured so that the measuring head 31 emits a laser beam in the X-axis direction toward the upper outer peripheral surface of the workpiece W and the laser beam is scanned in the direction of the axis of the workpiece W (in the Z-axis direction).
  • 0053 In this case, the measuring head 31 emits a laser beam at positions at regular intervals toward the upper outer peripheral surface of the workpiece W while moving in the direction of the axis of the workpiece W, and measures, at a plurality of positions in the direction of the axis of the workpiece W, the distance between the measuring head 31 and the irradiation point P on the upper outer peripheral surface of the workpiece W. Further, the deflection shape calculating section 54 calculates the position in the X-axis, Y-axis and Z-axis directions of each irradiation point P on the basis of the data stored in the distance data storage section 52 and in the position data storage section 53, and calculates the deflection shape of the entire workpiece W (the deflection shape of the upper outer peripheral surface of the workpiece W) on the basis of the calculated positions of the irradiation points P.
  • 0054 Furthermore, in the above embodiment, it is configured so that the deflection shape of the workpiece W the middle portion of which is supported by the center rests 21 is calculated and the tool is moved along the calculated deflection shape. However, as shown in Fig. 7, it may be configured so that the deflection shape of the workpiece W which is supported only at both end portions thereof by the chucks 13, 15 without the middle portion thereof being supported by the center rests 21 is calculated and the tool T is moved along the calculated deflection shape.
  • 0055 Additionally, although, in the above embodiment, the lathe 10 is provided as an example of the machining device, the machining device may be a grinding machine such as a cylindrical grinding machine. Further, the position data storage section 53 may be provided in the control device 25 instead of in the data processing device 50. Reference Signs List
  • 0056
  • 1
    Machining system
    10
    Lathe
    13
    first chuck
    15
    Second chuck
    20
    Toot rest
    21
    Center rest
    25
    Control device
    30
    Laser-type measuring device
    31
    Measuring head
    32
    Laser oscillator
    33
    CCD camera
    39
    Distance calculating section
    50
    Data processing device
    54
    Deflection shape calculating section
    55
    Offset amount calculating section
    Citation List Patent Literature
  • 0057
    • Japanese Unexamined Patent Application Publication No. 2002-59301
    • Japanese Unexamined Patent Application Publication No. 2004-261935

Claims (2)

  1. A machining method in which both end portions of an elongated workpiece (W) are supported horizontally by end portion supporting means (13, 15) and the supported workpiece is rotated about its axis, and the outer peripheral surface of the workpiece is machined by relative movement of the workpiece and a tool held by tool holding means (20),
    the machining method characterized by comprising:
    an attaching step of supporting the workpiece by the end portion supporting means and attaching a measuring head (31) for measuring the distance between the measuring head and the outer peripheral surface of the workpiece without contact to the tool holding means;
    a measuring step of rotating the workpiece about its axis at a rotational speed for when the workpiece is machined and measuring the distances between the measuring head and each of a plurality of measurement points on the outer peripheral surface of the workpiece in a plane perpendicular to the direction of the workpiece axis by the measuring head at a plurality of measurement positions in the direction of the workpiece axis;
    a deflection shape calculating step of calculating the positions of the measurement points on the outer peripheral surface of the workpiece with respect to each measurement position on the basis of the distances measured in the measuring step, calculating the center position of the workpiece at each measurement position on the basis of the calculated positions of the measurement points, and calculating the deflection shape of the workpiece on the basis of the calculated center positions; and
    a machining step of detaching the measuring head from the tool holding means, attaching the tool to the tool holding means, and machining the outer peripheral surface of the workpiece by moving the tool along the calculated deflection shape.
  2. A machining method in which both end portions of an elongated workpiece (W) are supported horizontally by end portion supporting means (13,15) and the supported workpiece is rotated about its axis, and the outer peripheral surface of the workpiece is machined by relative movement of the workpiece and a tool held by tool holding means (20), the machining method characterized by comprising:
    an attaching step of supporting the workpiece by the end supporting means and attaching a measuring head (31) for measuring the distance between the measuring head and the outer peripheral surface of the workpiece without contact to the tool holding means;
    a measuring step of rotating the workpiece about its axis at a rotational speed for when the workpiece is machined and measuring the distance between the measuring head and a measurement point on the upper outer peripheral surface of the workpiece by the measuring head at a plurality of measurement positions in the direction of the workpiece axis;
    a deflection shape calculating step of calculating the position of the measurement points on the upper outer peripheral surface of the workpiece with respect to each measurement position on the basis of the measured distances, and calculating the deflection shape of the workpiece on the basis of the calculated positions of the measurement points; and
    a machining step of detaching the measuring head from the tool holding means, attaching the tool to the tool holding means, and machining the outer peripheral surface of the workpiece by moving the tool along the calculated deflection shape.
EP10162115.9A 2009-05-15 2010-05-06 Machining methods Active EP2251120B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2009118458A JP5372598B2 (en) 2009-05-15 2009-05-15 Processing method and processing system

Publications (2)

Publication Number Publication Date
EP2251120A1 EP2251120A1 (en) 2010-11-17
EP2251120B1 true EP2251120B1 (en) 2016-04-20

Family

ID=42333494

Family Applications (1)

Application Number Title Priority Date Filing Date
EP10162115.9A Active EP2251120B1 (en) 2009-05-15 2010-05-06 Machining methods

Country Status (4)

Country Link
US (1) US8534169B2 (en)
EP (1) EP2251120B1 (en)
JP (1) JP5372598B2 (en)
CN (1) CN201815920U (en)

Families Citing this family (30)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8571697B2 (en) * 2009-10-19 2013-10-29 Progressive Systems, Inc. Apparatus and method for double end manufacturing of components
CN102274981B (en) * 2011-07-13 2013-06-05 黄山市继林机械制造有限公司 Double station round rod processing machine tool
US9003936B2 (en) * 2011-07-29 2015-04-14 Flow International Corporation Waterjet cutting system with standoff distance control
AT511744B1 (en) * 2011-08-08 2014-04-15 Wfl Millturn Tech Gmbh & Co Kg Device and method for processing a workpiece
CN102795034B (en) * 2012-09-10 2015-10-14 深圳市百泰珠宝首饰有限公司 A kind of method and apparatus at the enterprising driving flower of gold cylindrical material
EP2724815B1 (en) * 2012-10-29 2014-06-04 ESSILOR INTERNATIONAL (Compagnie Générale d'Optique) Method for machining a surface of an optical lens
JP6107210B2 (en) * 2013-02-20 2017-04-05 日本精工株式会社 Thread part processing method and processing apparatus
DE102013205038A1 (en) * 2013-03-21 2014-09-25 Heinrich Georg Gmbh Maschinenfabrik Lathe or turning / milling center for machining workpieces and method for measuring the workpieces with a lathe or a turning / milling center
FR3005278B1 (en) * 2013-05-06 2015-05-15 Cinetic Machining Method and machine for machining bar parts with automatic system for reversing and referring the workpiece
JP5702832B2 (en) * 2013-06-11 2015-04-15 ファナック株式会社 Distance measuring holder and machine tool with interference detection function
KR101518843B1 (en) 2013-10-02 2015-05-13 한국기계연구원 Built-in type Vision Based Inspection Tool for Autonomous Setting of Machining Origin
CN103662143B (en) * 2013-12-04 2016-05-25 福建融音塑业科技有限公司 A kind of plastic pipe film is wound around production technology
CN103639849B (en) * 2013-12-06 2016-06-29 宜昌金宝乐器制造有限公司 The upright piano sympathetic response dish numerical control pressure accurate system of processing of Tuning peg pin and processing method
US9884406B2 (en) 2014-01-15 2018-02-06 Flow International Corporation High-pressure waterjet cutting head systems, components and related methods
DE102014111320A1 (en) * 2014-08-08 2016-02-11 Brodmann Technologies GmbH Device for non-contact measurement on transmission shafts, in particular on worm shafts and working methods for this purpose
JP2016080501A (en) * 2014-10-16 2016-05-16 日本精工株式会社 Method for measuring effective diameter of workpiece in-process constituting screw shaft, and measurement device
CN104309878A (en) * 2014-11-10 2015-01-28 蔡留保 Adhering device for fishing rod decorative strip
JP6457277B2 (en) * 2015-01-23 2019-01-23 Dmg森精機株式会社 Vibration control device
US10596717B2 (en) 2015-07-13 2020-03-24 Flow International Corporation Methods of cutting fiber reinforced polymer composite workpieces with a pure waterjet
CN105081874B (en) * 2015-08-11 2017-06-23 东莞市冈田电子科技有限公司 With CAD diagram paper and machining coordinate calibration full-automatic vision positioning processing platform
DE102015220882A1 (en) * 2015-10-26 2017-04-27 Siemens Aktiengesellschaft Machining center for machining an elongate workpiece
CN105382632B (en) * 2015-11-13 2018-03-23 中北大学 Rear-mounted deep hole machining on-line checking and deviation correcting device
JP2017209770A (en) * 2016-05-27 2017-11-30 中村留精密工業株式会社 Workpiece machining method, spindle angle correcting device, and composite lathe
JP6727041B2 (en) * 2016-06-28 2020-07-22 株式会社小松製作所 Machine Tools
CN106270560B (en) * 2016-09-22 2018-03-30 温州统利机械科技有限公司 Turning equipment
CN106737477A (en) * 2017-01-18 2017-05-31 中信戴卡股份有限公司 A kind of vertical car chuck mounting bracket
CN108058065A (en) * 2017-11-30 2018-05-22 李京帅 A kind of numerically controlled lathe work pieces process process standard detection device
JP6837020B2 (en) * 2018-02-19 2021-03-03 東芝三菱電機産業システム株式会社 Cutting equipment and cutting method
US10408612B1 (en) * 2018-06-27 2019-09-10 Toyota Motor Engineering & Manufacturing North America, Inc. Apparatus for non-contact optical evaluation of camshaft lobe surface roughness
CN112276674A (en) * 2020-10-13 2021-01-29 上海交通大学 Precision measurement method and system for geometric motion error of rotating shaft of multi-axis numerical control machine tool

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3749500A (en) * 1970-12-23 1973-07-31 Gen Electric Optical caliper and edge detector-follower for automatic gaging
US4031368A (en) * 1972-04-17 1977-06-21 Verkstadsteknik Ab Adaptive control of cutting machining operations
US4576482A (en) * 1979-09-07 1986-03-18 Diffracto Ltd. Electro-optical inspection
JPS61131854A (en) * 1984-11-28 1986-06-19 Hitachi Ltd Measuring apparatus for workpiece machined by lathe
JPH03111148A (en) * 1989-09-21 1991-05-10 Okuma Mach Works Ltd Machine tool
JPH07136801A (en) * 1993-11-12 1995-05-30 Matsushita Electric Ind Co Ltd Mobile turning tool type cutter
IT1281546B1 (en) * 1995-04-13 1998-02-18 Marposs Spa Optoelectronic measuring device for checking linear dimensions
DE19958616A1 (en) * 1999-12-06 2001-06-13 Fraunhofer Ges Forschung Device for shape-optimizing processing of workpiece has processing unit for shape-optimizing processing, measurement unit for measuring boundary surfaces of workpiece
JP3737938B2 (en) 2000-08-18 2006-01-25 株式会社森精機製作所 Machine Tools
ITVR20010139A1 (en) * 2001-12-21 2003-06-23 Faimond S R L Diamond cutting machine equipped with a device for positioning goldsmith objects or the like, being processed
US6781703B1 (en) * 2002-01-11 2004-08-24 Schmitt Measurement Systems, Inc. Wireframe algorithm and non-contact gauging apparatus
JP2004261935A (en) * 2003-03-03 2004-09-24 Nakamura Tome Precision Ind Co Ltd Lathe provided with steady rest device for work
JP2008070143A (en) * 2006-09-12 2008-03-27 Soatec Inc Optical measuring system
JP4865490B2 (en) * 2006-10-06 2012-02-01 株式会社ツガミ Lathe, computer program for lathe control, and machining method in lathe

Also Published As

Publication number Publication date
JP5372598B2 (en) 2013-12-18
EP2251120A1 (en) 2010-11-17
US8534169B2 (en) 2013-09-17
CN201815920U (en) 2011-05-04
US20100288089A1 (en) 2010-11-18
JP2010264563A (en) 2010-11-25

Similar Documents

Publication Publication Date Title
CN103365246B (en) Device for the error correction of Digit Control Machine Tool
ES2322246T3 (en) HIGH SPEED LATHE TO MANUFACTURE OPTICALLY ACTIVE SURFACES.
ES2638547T3 (en) Pressure welding device with a non-contact measuring means for the detection of surface finish, concentric gait and / or axial eccentricity in a front side welding zone
US20150241203A1 (en) Coordinate measuring machine
JP6206504B2 (en) Machine tool and cutting method
KR101344892B1 (en) Machine tool
US4894597A (en) Deburring robot
KR101327571B1 (en) Workpiece measuring device, collision preventing device, and machine tool
US9372073B2 (en) Inner diameter measuring device
EP2230481B1 (en) Apparatus and method for measuring a workpiece on machine tool
JP4410140B2 (en) Machine Tools
JP5843531B2 (en) Coordinate measuring head unit and coordinate measuring machine
EP2026152A2 (en) Machine tool having the function of correcting mounting error through contact detection
TWI361737B (en) Method and apparatus for machining v grooves
US8214074B2 (en) Device and method for positioning a rotationally-symmetric precision part
US8801345B2 (en) Cutting method and cutting apparatus
DE112010000685B4 (en) Head for the continuous precision machining of three-dimensional bodies and machining equipment that includes the head
JP2015036181A (en) Method of correcting rotational contact of rotary tool fitted to revolving shaft of wire electric discharge machine, and wire electric discharge machine with function of correcting rotational contact
EP1462209B1 (en) Hale-machining method and apparatus
JP5198739B2 (en) Apparatus and method for processing optical workpieces, in particular plastic spectacle lenses
US8403725B2 (en) Method and device for machining workpieces
US9316476B2 (en) Profile measuring instrument, adjusting method for profile measuring instrument, and profile measuring method
EP3021183A1 (en) Method and device for automatically setting tool correction value of machine tool
JP5133568B2 (en) Laser processing equipment
US20140213148A1 (en) Machine tool and method for measuring a workpiece

Legal Events

Date Code Title Description
AX Request for extension of the european patent

Extension state: BA ME RS

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO SE SI SK SM TR

17P Request for examination filed

Effective date: 20110509

17Q First examination report despatched

Effective date: 20130715

RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: DMG MORI SEIKI CO., LTD.

RIC1 Information provided on ipc code assigned before grant

Ipc: B23Q 17/20 20060101ALI20151110BHEP

Ipc: B23Q 1/76 20060101ALI20151110BHEP

Ipc: B23B 5/08 20060101AFI20151110BHEP

Ipc: G05B 19/404 20060101ALI20151110BHEP

Ipc: B23Q 17/24 20060101ALI20151110BHEP

INTG Intention to grant announced

Effective date: 20151203

INTG Intention to grant announced

Effective date: 20151211

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 791844

Country of ref document: AT

Kind code of ref document: T

Effective date: 20160515

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 602010032392

Country of ref document: DE

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20160531

REG Reference to a national code

Ref country code: AT

Ref legal event code: MK05

Ref document number: 791844

Country of ref document: AT

Kind code of ref document: T

Effective date: 20160420

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20160420

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160420

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160420

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160420

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160420

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160720

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160822

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160420

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160420

Ref country code: AT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160420

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160420

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160420

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160721

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160420

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 602010032392

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160420

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160420

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20160531

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160420

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160420

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20160531

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160420

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160420

REG Reference to a national code

Ref country code: IE

Ref legal event code: MM4A

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160420

REG Reference to a national code

Ref country code: FR

Ref legal event code: ST

Effective date: 20170131

26N No opposition filed

Effective date: 20170123

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FR

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20160620

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20160506

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160420

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160420

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO

Effective date: 20100506

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20160531

Ref country code: MK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160420

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160420

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20160506

Ref country code: TR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160420

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160420

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160420

PGFP Annual fee paid to national office [announced from national office to epo]

Ref country code: IT

Payment date: 20190527

Year of fee payment: 10

Ref country code: DE

Payment date: 20190521

Year of fee payment: 10

PGFP Annual fee paid to national office [announced from national office to epo]

Ref country code: GB

Payment date: 20190521

Year of fee payment: 10

REG Reference to a national code

Ref country code: DE

Ref legal event code: R119

Ref document number: 602010032392

Country of ref document: DE

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20200506